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Iterative Estimation of Rigid-Body Transformations Application to Robust Object Tracking and Iterative Closest Point

Related publications (45)

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Multi-level diffusion adaptive networks

Ali H. Sayed

We study the problem of distributed estimation, where a set of nodes are required to collectively estimate some parameter of interest from their measurements. Diffusion algorithms have been shown to achieve good performance, increased robustness and are am ...

IEEE2009

Les mathématiques financières robustes, le maritime et les FFA

Jérôme Reboulleau

Powerful mathematical tools have been developed for trading in stocks and bonds, but other markets that are equally important for the globalized world have to some extent been neglected. We decided to study the shipping market as an new area of development ...

EPFL2008

Generalized linear prediction method in phase-shifting interferometry in the presence of noise

Pramod Rastogi, Abhijit Patil, Rajesh Langoju

The effectiveness of phase-shifting interferometry (PSI) techniques employing piezoelectric device PZT in the estimation of phase depends largely on the accuracy with which the phase shifts are imparted to the device and the noise influencing the measureme ...

Elsevier2007

Numerical methods and models relevant to transportation applications

Michaël Clément Louis Ghislain Thémans

In this thesis, we focus on standard classes of problems in numerical optimization: unconstrained nonlinear optimization as well as systems of nonlinear equations. More precisely, we consider two types of unconstrained nonlinear optimization problems. On t ...

EPFL2007

Distributed Adaptive Incremental Strategies: Formulation and Performance Analysis

Ali H. Sayed

An adaptive distributed estimation strategy is developed based on incremental gradient techniques. The proposed scheme addresses the problem of distributed linear estimation in a cooperative fashion, resulting in a distributed algorithm that can respond in ...

IEEE2006

Outlier modeling in image matching

Martin Vetterli, Sabine Süsstrunk, Luciano Sbaiz, David Hasler

We address the question of how to characterize the outliers that may appear when matching two views of the same scene. The match is performed by comparing the difference of the two views at a pixel level, aiming at a better registration of the images. When ...

2003

Computer-intensive statistical methods

Diego Kuonen

The saddlepoint approximation was introduced into statistics in 1954 by Henry E. Daniels. This basic result on approximating the density function of the sample mean has been generalized to many situations. The accuracy of this approximation is very good, p ...

EPFL2001

Comparison of robust estimation and Kalman filtering applied to fingertip tracking in human-machine interfaces

Ali H. Sayed

This paper studies the application of robust state-space estimation with uncertain models to tracking problems in human-machine interfaces. The need for robust methods arises from the desire to control the influence of uncertain environmental conditions on ...

2001

Monotonicity Constraints in the Estimation of Distributions with Smoothing Splines

Eva Maria Restle

A non-parametric method of distribution estimation for univariate data is presented. The idea is to adapt the smoothing spline procedure used in regression to the estimation of distributions via a scatterplot smoothing of theempirical distribution function ...

2000

Robust Estimation for Uncertain Models in a Data Fusion Scenario

Ali H. Sayed

This paper formulates and solves a parameter estimation problem that shows how to combine, in a certain optimal and robust manner, measurements that arise from a finite collection of uncertain models. This scenario occurs, for example, in data fusion appli ...

Elsevier2000